EP1106141A2 - X-ray apparatus with robot arm - Google Patents

X-ray apparatus with robot arm Download PDF

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Publication number
EP1106141A2
EP1106141A2 EP00204216A EP00204216A EP1106141A2 EP 1106141 A2 EP1106141 A2 EP 1106141A2 EP 00204216 A EP00204216 A EP 00204216A EP 00204216 A EP00204216 A EP 00204216A EP 1106141 A2 EP1106141 A2 EP 1106141A2
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EP
European Patent Office
Prior art keywords
ray
holding
arm
holding device
ray detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00204216A
Other languages
German (de)
French (fr)
Other versions
EP1106141A3 (en
Inventor
Dr. Volker Philips Corp. Int. Prop. GmbH Rasche
Dr. H. Philips Corp. Int. Prop. GmbH Schomberg
Erhard Philips Corp. Int. Prop. GmbH Klotz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Philips Intellectual Property and Standards GmbH
Koninklijke Philips NV
Original Assignee
Philips Intellectual Property and Standards GmbH
Philips Corporate Intellectual Property GmbH
Koninklijke Philips Electronics NV
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Publication date
Application filed by Philips Intellectual Property and Standards GmbH, Philips Corporate Intellectual Property GmbH, Koninklijke Philips Electronics NV filed Critical Philips Intellectual Property and Standards GmbH
Publication of EP1106141A2 publication Critical patent/EP1106141A2/en
Publication of EP1106141A3 publication Critical patent/EP1106141A3/en
Withdrawn legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling

Definitions

  • the invention relates to an x-ray device according to the preamble of claim 1.
  • Such X-ray devices are widely known and used.
  • the holding device mostly designed as a stiff C-arm with the X-ray source at one end and at the other end of which the x-ray detector is arranged such that they face each other directly and x-rays of one in between Object under investigation, e.g. B. a patient can be created.
  • the supporting device is the C-arm with the room, i.e. the floor, the ceiling or the wall, connected.
  • a C-arm x-ray device is known from WO 99/30614, in which the Carrying device is designed as a parallel manipulator. There is a first on the C-arm attached holding plate over several support members with a second holding plate connected, which can be attached to the wall, for example. Each of these links is directly connected to both holding plates, the connection points the support members with the holding plates are different. This allows the C-arm in certain limits in certain positions.
  • a disadvantage of the solution known from WO 99/30614 is that the Flexibility and the possibilities of movement in particular due to the mechanical Construction are limited. For many applications, for example for 3D rotational angiography However, it is just necessary that X-rays from a wide variety Positions can be created that, for example, a series of x-ray projection images can be created along a given trajectory. This must also with the highest possible positioning accuracy. Although from the US 4,894,855 known X-ray device given high flexibility; for many applications however, the accuracy that can be achieved is not sufficient. Also are there several manipulators required, each of which must be controlled separately, what leads to high costs and requires complex control.
  • the invention is therefore based on the object of the most flexible x-ray device possible Specify at which a high positioning accuracy is guaranteed and which is as inexpensive to manufacture.
  • the carrying device is therefore composed of several articulated serially interconnected support members, which also preferably are individually controllable, so that the holding device in all spatial directions can be moved.
  • the required position accuracy is also achieved that the holding device is preferably rigid, so that the distance between X-ray tube and X-ray detector and the alignment of these elements with each other are unchangeable.
  • the support device is only the support device from several support members built up, which must be controlled, while in the US 4,894,855 known X-ray device, there are several manipulators, which are separate must be controlled.
  • the carrying device is a serial manipulator, in particular a robot arm.
  • a serial manipulator in particular a robot arm.
  • the costs can be reduced for this part of the mechanics, however, if necessary, reduce a lot while simultaneously Increased freedom of movement.
  • the control of such robot arms is known and standardized software in a simple way. Because such robotic arms too work at high speed, you can also shorten the creation time time required by x-rays can be realized. For example, If necessary, create a study of the course of the blood flow in real time.
  • the carrying device is configured in this way is that any positionability of the x-ray source and the x-ray detector can be reached and / or that the movements of the individual support members of the support device are controllable. So that the X-ray tube as required by rotational angiography circular or helical trajectories can be described in one Another preferred embodiment provides that the support device with the holding device is connected by means of a swivel joint.
  • the holding device is designed as a rigid C-arm is, however, it can also be provided that the holding device from at least two Holding members is constructed, the X-ray source and at a first holding member the second holding member of the X-ray detector are arranged.
  • This has the advantage that the distance between the X-ray source and the X-ray detector can also be changed, as a result the imaging scale and the size of the examination area are changed can and the overall flexibility is further increased.
  • Known robot systems generally have a mechanical emergency braking system to stop the movement of the robot in the event of a fault or incorrect control.
  • an injury to a patient in such a case must be prevented in any case, are means in a preferred embodiment provided to monitor the distance between an object under examination and moving parts of the x-ray device, in particular the x-ray source and the X-ray detector, for example ultrasonic sensors and ultrasonic detectors Can find use.
  • the distance that triggers such an emergency braking must be however, be set so that on the one hand all the necessary x-rays are still available let create and that on the other hand another in the remaining distance Emergency braking is possible before touching.
  • the known X-ray device shown in FIG. 1 has a C-arm 1 with an X-ray tube 2 and an X-ray detector 3 as the holding device. These are aligned with one another, so that X-rays emerging from the X-ray tube 2 along the projection beam P pass through an examination object arranged in the examination area Z on the patient table 4 and strike the X-ray detector 3.
  • the X-ray tube 2 and the X-ray detector 3 can be rotated about the z 3 axis in the specified angular range.
  • the rail bracket 10 is connected to a rigid support device 6 via a swivel joint 5, which in the case shown permits rotation through 315 ° about the z 2 axis.
  • This is in turn attached by means of a joint 7, which allows rotation about the z 1 axis, to a slide 8 which runs in a rail system 81, which in turn is fastened to the ceiling 9.
  • the holding device 12 is designed much simpler than a rigid C-arm without rails.
  • the holding device 12 is connected to the carrying device 18 via a swivel joint 13, which allows rotation through 360 ° about the z 2 axis.
  • this comprises three support arms 15, 16, 17, which are connected to one another in series by means of simple flat joints 14 and at one end to the swivel joint 7 and at the other end to the swivel joint 13.
  • the joints 14 allow a change in the position of the holding device 12 in the plane spanned by the support arms 15 and 16.
  • the attachment to the ceiling 9 is carried out as in the X-ray device shown in FIG. 1.
  • the design of the carrying device 18 allows the holding device 12 to be positioned much more flexibly, as can easily be seen. It is true that the structure of the carrying device 18 is larger than that of the carrying device 6 (see FIG. 1); however, this is compensated for by the fact that the holding device 12 can be made considerably simpler here, in particular without rails, and also significantly lighter.
  • the X-ray tube 2 and / or the X-ray detector 3 are attached to the C-arm 12 by means of a displacement device such that they can be displaced in the z 1 direction.
  • FIG. 3 Another embodiment of an X-ray device according to the invention is shown in FIG. 3.
  • the carrying device 18 is configured as in the X-ray device shown in FIG. 2, but in addition the holding device 12 also consists of a plurality of holding members 19, 20, 21. These holding members form approximately a square "C" and are connected to one another and to the X-ray tube 2 or the X-ray detector 3 by means of flat joints 14. This also allows the distance between the X-ray tube 2 and the X-ray detector 3 and thus the imaging scale to be changed.
  • FIGS. 4a and 4b Schematic representations of a further embodiment of an X-ray device according to the invention, which is in different positions, are shown in FIGS. 4a and 4b.
  • connection is made from the holding device 12, which can be designed as a simple C-arm as shown in FIG. 2, to the floor B by seven connecting pieces A 1 to A 7 , each of which is connected to one another by means of a joint G 1 to G 6 are connected.
  • Each of these joints G 1 to G 6 enables rotation about an axis of rotation, so that in this embodiment the carrying device has six axes and offers the greatest possible flexibility.
  • the C-arm 12 is arranged at the end of the patient table 4, for example a slice image of a patient's head by means of rotational angiography to investigate.
  • the C-arm 12 is in the middle of the patient table 4 arranged, for example, to have an x-ray of the patient there Create a patient's abdomen.
  • Such an X-ray device can, for example using a conventional 6-axis articulated arm robot, as is often the case in production engineering, e.g. in automotive engineering.

Abstract

A C-curve X-ray device has an X-ray source (2) and an X-ray detector both fitted on each end of a common holding device (12) connected to a room (9) with a support device (18) that has several support members (15-17) interlinked serially with joints (14). A serial manipulator like a conventional robot arm acts as a support device.

Description

Die Erfindung betrifft eine Röntgeneinrichtung gemäß dem Oberbegriff des Anspruchs 1.The invention relates to an x-ray device according to the preamble of claim 1.

Derartige Röntgeneinrichtungen sind vielfach bekannt und benutzt. Dabei ist die Haltevorrichtung meist als steifer C-Bogen ausgestaltet, an dessen einem Ende die Röntgenquelle und an dessen anderem Ende der Röntgendetektor derart angeordnet sind, dass sie sich direkt gegenüberliegen und Röntgenaufnahmen von einem dazwischen angeordneten Untersuchungsobjekt, z. B. einem Patienten, erstellt werden können. Mittels einer steifen Tragvorrichtung ist der C-Bogen dabei mit dem Raum, also dem Boden, der Decke oder der Wand, verbunden.Such X-ray devices are widely known and used. Here is the holding device mostly designed as a stiff C-arm with the X-ray source at one end and at the other end of which the x-ray detector is arranged such that they face each other directly and x-rays of one in between Object under investigation, e.g. B. a patient can be created. Using a stiff one The supporting device is the C-arm with the room, i.e. the floor, the ceiling or the wall, connected.

Weiter ist aus der WO 99/30614 eine C-Bogen-Röntgeneinrichtung bekannt, bei der die Tragvorrichtung als paralleler Manipulator ausgestaltet ist. Dabei ist eine erste an dem C-Bogen befestigte Halteplatte über mehrere Tragglieder mit einer zweiten Halteplatte verbunden, die beispielsweise an der Wand angebracht werden kann. Jedes dieser Tragglieder ist unmittelbar mit beiden Halteplatten verbunden, wobei die Verbindungspunkte der Tragglieder mit den Halteplatten verschieden sind. Damit läßt sich der C-Bogen in gewissen Grenzen in bestimmte Stellungen bringen.Furthermore, a C-arm x-ray device is known from WO 99/30614, in which the Carrying device is designed as a parallel manipulator. There is a first on the C-arm attached holding plate over several support members with a second holding plate connected, which can be attached to the wall, for example. Each of these links is directly connected to both holding plates, the connection points the support members with the holding plates are different. This allows the C-arm in certain limits in certain positions.

Aus der US 4,894,855 ist eine Röntgeneinrichtung bekannt, bei der die Röntgenröhre, der Röntgendetektor und der Patiententisch an jeweils einem aus mehreren Traggliedern bestehenden Manipulator angebracht sind, die eine Bewegung dieser Elemente in allen drei räumlichen Richtungen unabhängig voneinander zulassen.From US 4,894,855 an X-ray device is known in which the X-ray tube, the X-ray detector and the patient table on one each consisting of several support members Manipulator are attached that move these elements in all three allow spatial directions independently of each other.

Als nachteilig erweist sich bei der aus der WO 99/30614 bekannten Lösung, dass die Flexibilität und die Bewegungsmöglichkeiten insbesondere aufgrund des mechanischen Aufbaus begrenzt sind. Für viele Anwendungen, beispielsweise für die 3D-Rotationsangiographie ist es jedoch gerade erforderlich, dass Röntgenaufnahmen aus verschiedensten Positionen erstellt werden können, dass beispielsweise eine Serie von Röntgenprojektionsaufnahmen entlang einer vorgegebenen Trajektorie erstellt werden kann. Dies muß auch mit einer möglichst hohen Positioniergenauigkeit erfolgen. Zwar ist bei der aus der US 4,894,855 bekannten Röntgeneinrichtung eine hohe Flexibilität gegeben; für viele Anwendungen ist die damit erreichbare Genauigkeit jedoch nicht ausreichend. Außerdem sind dort mehrere Manipulatoren erforderlich, die jeweils separat gesteuert werden müssen, was zu hohen Kosten führt und eine komplexe Steuerung erfordert.A disadvantage of the solution known from WO 99/30614 is that the Flexibility and the possibilities of movement in particular due to the mechanical Construction are limited. For many applications, for example for 3D rotational angiography However, it is just necessary that X-rays from a wide variety Positions can be created that, for example, a series of x-ray projection images can be created along a given trajectory. This must also with the highest possible positioning accuracy. Although from the US 4,894,855 known X-ray device given high flexibility; for many applications however, the accuracy that can be achieved is not sufficient. Also are there several manipulators required, each of which must be controlled separately, what leads to high costs and requires complex control.

Der Erfindung liegt deshalb die Aufgabe zugrunde, eine möglichst flexible Röntgeneinrichtung anzugeben, bei der eine hohe Positioniergenauigkeit gewährleistet ist und welche möglichst kostengünstig herzustellen ist.The invention is therefore based on the object of the most flexible x-ray device possible Specify at which a high positioning accuracy is guaranteed and which is as inexpensive to manufacture.

Diese Aufgabe wird durch eine Röntgeneinrichtung gemäß Anspruch 1 gelöst.This object is achieved by an x-ray device according to claim 1.

Bei der Erfindung wurde erkannt, dass weder eine steife Tragvorrichtung noch ein paralleler Manipulator als Tragvorrichtung hinsichtlich der Flexibilität die optimale Lösung darstellen. Die Tragvorrichtung ist deshalb erfindungsgemäß aus mehreren gelenkig seriell miteinander verbundenen Traggliedern aufgebaut, die bevorzugt auch einzeln steuerbar sind, so dass die Haltevorrichtung in allen räumlichen Richtungen bewegt werden kann. Die erforderliche Positionsgenauigkeit wird auch dadurch erreicht, dass die Haltevorrichtung bevorzugt steif ausgebildet ist, so dass der Abstand zwischen Röntgenröhre und Röntgendetektor und die Ausrichtung dieser Elemente aufeinander unveränderbar sind. Außerdem ist hier nur die Tragvorrichtung aus mehreren Traggliedern aufgebaut, welche gesteuert werden muß, während bei der aus der US 4,894,855 bekannten Röntgeneinrichtung mehrere Manipulatoren vorhanden sind, die separat gesteuert werden müssen.In the invention it was recognized that neither a rigid support device nor a parallel manipulator as a carrying device the optimal in terms of flexibility Represent solution. According to the invention, the carrying device is therefore composed of several articulated serially interconnected support members, which also preferably are individually controllable, so that the holding device in all spatial directions can be moved. The required position accuracy is also achieved that the holding device is preferably rigid, so that the distance between X-ray tube and X-ray detector and the alignment of these elements with each other are unchangeable. In addition, here is only the support device from several support members built up, which must be controlled, while in the US 4,894,855 known X-ray device, there are several manipulators, which are separate must be controlled.

In einer bevorzugten Ausgestaltung der Erfindung ist vorgesehen, dass die Tragvorrichtung ein serieller Manipulator, insbesondere ein Roboterarm ist. Insbesondere kann auch ein aus vielen Bereichen der Produktionstechnik bekannter herkömmlicher serieller Roboterarm Verwendung finden. Dies kann zu einer Kostenreduzierung führen, da die Stückzahlen von C-Bogen-Röntgeneinrichtungen sehr begrenzt sind, so dass die Herstellungskosten der mechanischen Systeme einen deutlichen Kostenfaktor darstellen. Durch die Verwendung eines in großer Stückzahl hergestellten konventionellen Roboterarms lassen sich die Kosten für diesen Teil der Mechanik jedoch ggf. um einiges reduzieren bei gleichzeitiger Erhöhung der Bewegungsfreiheit. Die Steuerung derartiger Roboterarme ist mit bekannter und standardisierter Software auf einfache Weise möglich. Da derartige Roboterarme auch mit hoher Geschwindigkeit arbeiten, läßt sich ggf. auch eine Verkürzung der für die Erstellung von Röntgenaufnahmen erforderlichen Zeit realisierbar. Beispielsweise ließe sich ggf. in Echtzeit eine Studie des Verlaufs des Blutflusses erstellen.In a preferred embodiment of the invention it is provided that the carrying device is a serial manipulator, in particular a robot arm. In particular, one can also many areas of production technology known conventional serial robotic arm Find use. This can lead to a cost reduction because of the quantities of C-arm x-ray devices are very limited, so the manufacturing costs of the mechanical systems represent a significant cost factor. By using it of a conventional robot arm manufactured in large quantities, the costs can be reduced for this part of the mechanics, however, if necessary, reduce a lot while simultaneously Increased freedom of movement. The control of such robot arms is known and standardized software in a simple way. Because such robotic arms too work at high speed, you can also shorten the creation time time required by x-rays can be realized. For example, If necessary, create a study of the course of the blood flow in real time.

Bei bevorzugten Weiterbildung ist vorgesehen, dass die Tragvorrichtung derart ausgestaltet ist, dass eine beliebige Positionierbarkeit der Röntgenquelle und des Röntgendetektors erreichbar sind und/oder dass die Bewegungen der einzelnen Tragglieder der Tragvorrichtung steuerbar sind. Damit die Röntgenröhre wie bei der Rotationsangiographie gefordert kreisförmige oder schraubenförmige Trajektorien beschreiben kann, ist in einer weiteren bevorzugten Ausgestaltung vorgesehen, dass die Tragvorrichtung mit der Haltevorrichtung mittels eines Drehgelenks verbunden ist.In a preferred development, it is provided that the carrying device is configured in this way is that any positionability of the x-ray source and the x-ray detector can be reached and / or that the movements of the individual support members of the support device are controllable. So that the X-ray tube as required by rotational angiography circular or helical trajectories can be described in one Another preferred embodiment provides that the support device with the holding device is connected by means of a swivel joint.

Zwar ist bevorzugt vorgesehen, dass die Haltevorrichtung als steifer C-Bogen ausgestaltet ist, es kann jedoch auch vorgesehen sein, dass die Haltevorrichtung aus mindestens zwei Haltegliedern aufgebaut ist, wobei an einem ersten Halteglied die Röntgenquelle und an dem zweiten Halteglied der Röntgendetektor angeordnet sind. Dies hat den Vorteil, dass auch der Abstand zwischen Röntgenquelle und Röntgendetektor veränderbar ist, wodurch der Abbildungsmaßstab und die Größe des Untersuchungsbereichs verändert werden können und insgesamt die Flexibilität noch weiter erhöht wird.It is preferably provided that the holding device is designed as a rigid C-arm is, however, it can also be provided that the holding device from at least two Holding members is constructed, the X-ray source and at a first holding member the second holding member of the X-ray detector are arranged. This has the advantage that the distance between the X-ray source and the X-ray detector can also be changed, as a result the imaging scale and the size of the examination area are changed can and the overall flexibility is further increased.

Bekannte Robotersysteme weisen in der Regel ein mechanisches Notbremssystem auf, um die Bewegung des Roboters bei einer Störung oder Fehlsteuerung zu stoppen. Da bei medizinischen Anwendungen eine Verletzung eines Patienten in einem solchen Fall auf jeden Fall verhindert werden muß, sind bei einer bevorzugten Ausgestaltung Mittel vorgesehen zur Überwachung des Abstandes zwischen einem Untersuchungsobjekt und bewegten Teilen der Röntgeneinrichtung, insbesondere der Röntgenquelle und dem Röntgendetektor, wozu beispielsweise Ultraschallsensoren und Ultraschalldetektoren Verwendung finden können. Dadurch soll kontinuierlich der Abstand zwischen den bewegten Teilen und dem Untersuchungsobjekt gemessen werden und eine Notbremsung veranlaßt werden, sofern der Abstand zu gering wird und eine Verletzung des Untersuchungsobjekts drohen könnte. Der eine solche Notbremsung auslösende Abstand muß dabei jedoch so eingestellt sein, dass sich einerseits noch alle notwendigen Röntgenaufnahmen erstellen lassen und dass andererseits in dem verbleibenden Abstand noch eine Notbremsung möglich ist, bevor eine Berührung erfolgt.Known robot systems generally have a mechanical emergency braking system to stop the movement of the robot in the event of a fault or incorrect control. There with medical applications an injury to a patient in such a case must be prevented in any case, are means in a preferred embodiment provided to monitor the distance between an object under examination and moving parts of the x-ray device, in particular the x-ray source and the X-ray detector, for example ultrasonic sensors and ultrasonic detectors Can find use. This should continuously move the distance between the moving Parts and the object under investigation are measured and an emergency stop if the distance becomes too short and the object to be examined is injured could threaten. The distance that triggers such an emergency braking must be however, be set so that on the one hand all the necessary x-rays are still available let create and that on the other hand another in the remaining distance Emergency braking is possible before touching.

Als weitere Mittel für die Abstandsüberwachung sind mechanische, an Röntgenquelle und Röntgendetektor angebrachte Berührungssensoren, z.B. fühlerartige Sensoren in der Form von langen Schnurbarthaaren, denkbar, durch bei Berührung mit dem Untersuchungsobjekt ein Sensorsignal liefern, wodurch eine Notbremsung auslösbar ist. Außerdem ist zur Überwachung auch eine separate Videoanlage denkbar, die kontinuierlich und in Echtzeit die Bewegung der Röntgenquelle und des Röntgendetektors beobachtet und auswertet und bei zu geringem Abstand eine Notbremsung einleitet.Other means for distance monitoring are mechanical, x-ray source and X-ray detector attached touch sensors, e.g. sensor-like sensors in the form of long mustache hair, conceivable by touching the object under examination deliver a sensor signal, whereby an emergency stop can be triggered. In addition, the Surveillance also conceivable a separate video system that is continuous and in real time observes and evaluates the movement of the x-ray source and the x-ray detector and initiates emergency braking if the distance is too short.

Die Erfindung wird nachfolgend anhand der Zeichnungen näher erläutert. Es zeigen:

Fig. 1
eine bekannte C-Bogen-Röntgeneinrichtung,
Fig. 2
eine erfindungsgemäße C-Bogen-Röntgeneinrichtung,
Fig. 3
eine weitere Ausführungsform einer erfindungsgemäßen Röntgeneinrichtung, und
Fig. 4a, 4b
systematische Darstellungen einer weiteren Ausführungsform einer erfindungsgemäßen Röntgeneinrichtung in verschiedenen Positionen.
The invention is explained in more detail below with reference to the drawings. Show it:
Fig. 1
a known C-arm x-ray device,
Fig. 2
a C-arm x-ray device according to the invention,
Fig. 3
a further embodiment of an x-ray device according to the invention, and
4a, 4b
systematic representations of a further embodiment of an X-ray device according to the invention in different positions.

Die in Fig. 1 gezeigte bekannte Röntgeneinrichtung weist als Haltevorrichtung einen C-Bogen 1 mit einer Röntgenröhre 2 und einem Röntgendetektor 3 auf. Diese sind aufeinander ausgerichtet, so dass aus der Röntgenröhre 2 entlang des Projektionsstrahles P austretende Röntgenstrahlen ein im Untersuchungsbereich Z auf dem Patiententisch 4 angeordnetes Untersuchungsobjekt durchtritt und auf den Röntgendetektor 3 trifft. Mittels an dem C-Bogen 1 angebrachter Schienen 11, die durch eine Schienenhalterung 10 laufen, sind die Röntgenröhre 2 und der Röntgendetektor 3 im angegebenen Winkelbereich um die z3-Achse rotierbar. Über ein Drehgelenk 5, das im gezeigten Fall eine Rotation um 315° um die z2-Achse zuläßt, ist die Schienenhalterung 10 mit einer steifen Tragvorrichtung 6 verbunden. Diese ist wiederum mittels eines Gelenks 7, das eine Rotation um die z1-Achse erlaubt, an einem Schlitten 8 angebracht, der in einem Schienensystem 81 läuft, das wiederum an der Decke 9 befestigt ist. Wie bereits durch die Winkelangaben deutlich wird, ist die Bewegungsfreiheit bei einer solchen Röntgeneinrichtung limitiert.The known X-ray device shown in FIG. 1 has a C-arm 1 with an X-ray tube 2 and an X-ray detector 3 as the holding device. These are aligned with one another, so that X-rays emerging from the X-ray tube 2 along the projection beam P pass through an examination object arranged in the examination area Z on the patient table 4 and strike the X-ray detector 3. By means of rails 11 attached to the C-arm 1, which run through a rail holder 10, the X-ray tube 2 and the X-ray detector 3 can be rotated about the z 3 axis in the specified angular range. The rail bracket 10 is connected to a rigid support device 6 via a swivel joint 5, which in the case shown permits rotation through 315 ° about the z 2 axis. This is in turn attached by means of a joint 7, which allows rotation about the z 1 axis, to a slide 8 which runs in a rail system 81, which in turn is fastened to the ceiling 9. As is already clear from the angle information, the freedom of movement in such an X-ray device is limited.

In Fig. 2 ist eine erste Ausführungsform einer erfindungsgemäßen Röntgeneinrichtung gezeigt. Dabei ist zunächst die Haltevorrichtung 12 wesentlich einfacher als steifer C-Bogen ohne Schienen ausgestaltet. Über ein Drehgelenk 13, das eine Rotation um 360° um die z2-Achse zuläßt, ist die Haltevorrichtung 12 mit der Tragvorrichtung 18 verbunden. Diese umfaßt im gezeigten Fall drei Tragarme 15,16,17, die in Serie mittels einfacher ebener Gelenke 14 miteinander und an einem Ende mit dem Drehgelenk 7 und am anderen Ende mit dem Drehgelenk 13 verbunden sind. Die Gelenke 14 ermöglichen eine Veränderung der Lage der Haltevorrichtung 12 in der durch die Tragarme 15 und 16 aufgespannten Ebene. Die Befestigung an der Decke 9 erfolgt wie bei der in Fig. 1 gezeigten Röntgeneinrichtung. Durch die Ausgestaltung der Tragvorrichtung 18 läßt sich, wie leicht zu erkennen ist, die Haltevorrichtung 12 wesentlich flexibler positionieren. Zwar ist der Aufbau der Tragvorrichtung 18 im Vergleich zum Aufbau der Tragvorrichtung 6 (siehe Fig. 1) größer; dies wird jedoch dadurch ausgeglichen, dass hier die Haltevorrichtung 12 wesentlich einfacher, insbesondere ohne Schienen, und auch deutlich leichter ausgestaltet sein kann.2 shows a first embodiment of an X-ray device according to the invention. First, the holding device 12 is designed much simpler than a rigid C-arm without rails. The holding device 12 is connected to the carrying device 18 via a swivel joint 13, which allows rotation through 360 ° about the z 2 axis. In the case shown, this comprises three support arms 15, 16, 17, which are connected to one another in series by means of simple flat joints 14 and at one end to the swivel joint 7 and at the other end to the swivel joint 13. The joints 14 allow a change in the position of the holding device 12 in the plane spanned by the support arms 15 and 16. The attachment to the ceiling 9 is carried out as in the X-ray device shown in FIG. 1. The design of the carrying device 18 allows the holding device 12 to be positioned much more flexibly, as can easily be seen. It is true that the structure of the carrying device 18 is larger than that of the carrying device 6 (see FIG. 1); however, this is compensated for by the fact that the holding device 12 can be made considerably simpler here, in particular without rails, and also significantly lighter.

Um die Flexibilität einer solchen Röntgeneinrichtung weiter zu erhöhen, kann zudem vorgesehen sein, dass die Röntgenröhre 2 und/oder der Röntgendetektor 3 derart mittels einer Verschiebevorrichtung an dem C-Bogen 12 angebracht sind, dass sie in z1-Richtung verschiebbar sind.In order to further increase the flexibility of such an X-ray device, it can also be provided that the X-ray tube 2 and / or the X-ray detector 3 are attached to the C-arm 12 by means of a displacement device such that they can be displaced in the z 1 direction.

Eine weitere Ausführungsform einer erfindungsgemäßen Röntgeneinrichtung ist in Fig. 3 gezeigt. Bei dieser ist die Tragvorrichtung 18 wie bei der in Fig. 2 gezeigten Röntgeneinrichtung ausgestaltet, zusätzlich besteht jedoch auch die Haltevorrichtung 12 aus mehreren Haltegliedern 19,20,21. Diese Halteglieder bilden in etwa ein eckiges "C" und sind mittels ebener Gelenke 14 miteinander und mit der Röntgenröhre 2 bzw. dem Röntgendetektor 3 verbunden. Dadurch läßt sich auch der Abstand zwischen Röntgenröhre 2 und Röntgendetektor 3 und somit der Abbildungsmaßstab verändern.
Schematische Darstellungen einer weiteren Ausführungsform einer erfindungsgemäßen Röntgeneinrichtung, die sich in unterschiedlichen Positionen befindet, sind in den Figuren 4a und 4b gezeigt. Dabei erfolgt die Verbindung von der Haltevorrichtung 12, die wie in Fig. 2 gezeigt als einfacher C-Bogen gestaltet sein kann, bis hin zum Boden B durch sieben Verbindungsstücke A1 bis A7, die jeweils mittels eines Gelenks G1 bis G6 miteinander verbunden sind. Jedes dieser Gelenke G1 bis G6 ermöglicht eine Rotation um eine Rotationsachse, so dass bei dieser Ausführungsform die Tragvorrichtung sechs Achsen aufweist und die größtmögliche Flexibilität bietet.Another embodiment of an X-ray device according to the invention is shown in FIG. 3. In this case, the carrying device 18 is configured as in the X-ray device shown in FIG. 2, but in addition the holding device 12 also consists of a plurality of holding members 19, 20, 21. These holding members form approximately a square "C" and are connected to one another and to the X-ray tube 2 or the X-ray detector 3 by means of flat joints 14. This also allows the distance between the X-ray tube 2 and the X-ray detector 3 and thus the imaging scale to be changed.
Schematic representations of a further embodiment of an X-ray device according to the invention, which is in different positions, are shown in FIGS. 4a and 4b. The connection is made from the holding device 12, which can be designed as a simple C-arm as shown in FIG. 2, to the floor B by seven connecting pieces A 1 to A 7 , each of which is connected to one another by means of a joint G 1 to G 6 are connected. Each of these joints G 1 to G 6 enables rotation about an axis of rotation, so that in this embodiment the carrying device has six axes and offers the greatest possible flexibility.

Bei der Darstellung in Fig. 4a ist der C-Bogen 12 am Ende des Patiententisches 4 angeordnet, um beispielsweise ein Schichtbild des Kopfes eines Patienten durch Rotationsangiographie zu ermitteln. Bei der Darstellung in Fig. 4b ist der C-Bogen 12 in der Mitte des Patiententisches 4 angeordnet, um beispielsweise dort eine Röntgenaufnahme des Abdomen eines Patienten zu erstellen. Eine solche Röntgeneinrichtung läßt sich beispielsweise mittels eines konventionellen 6-Achsen-Knickarm-Roboters realisieren, wie er vielfach in der Produktionstechnik, z.B. in der Automobiltechnik, verwendet wird.4a, the C-arm 12 is arranged at the end of the patient table 4, for example a slice image of a patient's head by means of rotational angiography to investigate. 4b, the C-arm 12 is in the middle of the patient table 4 arranged, for example, to have an x-ray of the patient there Create a patient's abdomen. Such an X-ray device can, for example using a conventional 6-axis articulated arm robot, as is often the case in production engineering, e.g. in automotive engineering.

Claims (10)

Röntgeneinrichtung mit einer Röntgenquelle (2) und einem Röntgendetektor (3), welche an jeweils einem Ende einer gemeinsamen Haltevorrichtung (12) angeordnet sind, wobei die Haltevorrichtung (12) durch eine Tragvorrichtung (18) mit dem Raum (9) verbunden ist,
dadurch gekennzeichnet,
dass die Tragvorrichtung (18) aus mehreren gelenkig seriell miteinander verbundenen Traggliedern (15, 16, 17) aufgebaut ist.X-ray device with an X-ray source (2) and an X-ray detector (3), which are each arranged at one end of a common holding device (12), the holding device (12) being connected to the room (9) by a carrying device (18),
characterized,
that the support device (18) is constructed from a plurality of support members (15, 16, 17) which are connected to one another in series in an articulated manner. Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die Tragvorrichtung (18) ein serieller Manipulator, insbesondere ein Roboterarm, ist.X-ray device according to claim 1,
characterized,
that the carrying device (18) is a serial manipulator, in particular a robot arm. Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die Tragvorrichtung (18) derart ausgestaltet und mit der Haltevorrichtung (12) verbunden ist, dass die Haltevorrichtung mit der Röntgenquelle (2) und dem Röntgendetektor (3) beliebig positionierbar ist.X-ray device according to claim 1,
characterized,
that the carrying device (18) is designed and connected to the holding device (12) such that the holding device can be positioned as desired with the x-ray source (2) and the x-ray detector (3). Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die Bewegungen der einzelnen Tragglieder (15, 16, 17) der Tragvorrichtung (18) steuerbar sind.X-ray device according to claim 1,
characterized,
that the movements of the individual support members (15, 16, 17) of the support device (18) can be controlled. Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die Tragvorrichtung (18) mit der Haltevorrichtung (12) mittels eines Drehgelenks (13) verbunden ist. X-ray device according to claim 1,
characterized,
that the carrying device (18) is connected to the holding device (12) by means of a swivel joint (13). Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet, dass die Haltevorrichtung (12) aus mindestens zwei Haltegliedern (19, 20, 21) aufgebaut ist, wobei an einem ersten Halteglied (20) die Röntgenquelle (2) und an einem zweiten Halteglied (21) der Röntgendetektor (13) angeordnet sind.X-ray device according to claim 1,
characterized in that the holding device (12) is constructed from at least two holding members (19, 20, 21), the X-ray source (2) being arranged on a first holding member (20) and the X-ray detector (13) on a second holding member (21) are. Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die Haltevorrichtung (12) ein C-Bogen ist.X-ray device according to claim 1,
characterized,
that the holding device (12) is a C-arm. Röntgeneinrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass Mittel vorgesehen sind zur Überwachung des Abstandes zwischen einem Untersuchungsobjekt und bewegten Teilen (2, 3, 12, 18) der Röntgeneinrichtung, insbesondere der Röntgenquelle (2) und dem Röntgendetektor (3).X-ray device according to claim 1,
characterized,
that means are provided for monitoring the distance between an examination object and moving parts (2, 3, 12, 18) of the x-ray device, in particular the x-ray source (2) and the x-ray detector (3). Röntgeneinrichtung nach Anspruch 8,
dadurch gekennzeichnet,
dass die Mittel zur Abstandsüberwachung Ultraschallsensoren und Ultraschalldetektoren aufweisen.X-ray device according to claim 8,
characterized,
that the means for distance monitoring have ultrasonic sensors and ultrasonic detectors. Röntgeneinrichtung nach Anspruch 8,
dadurch gekennzeichnet,
dass die Mittel zur Abstandsüberwachung mechanische Berührungssensoren aufweisen.X-ray device according to claim 8,
characterized,
that the means for distance monitoring have mechanical touch sensors.
EP00204216A 1999-12-07 2000-11-28 X-ray apparatus with robot arm Withdrawn EP1106141A3 (en)

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US6869217B2 (en) 2005-03-22
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DE19958864A1 (en) 2001-06-13

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